CN109011498B - Rotary casting device and multi-angle casting method - Google Patents
Rotary casting device and multi-angle casting method Download PDFInfo
- Publication number
- CN109011498B CN109011498B CN201810997876.6A CN201810997876A CN109011498B CN 109011498 B CN109011498 B CN 109011498B CN 201810997876 A CN201810997876 A CN 201810997876A CN 109011498 B CN109011498 B CN 109011498B
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- Prior art keywords
- angle
- synchronous belt
- rotating rod
- frame
- slip ring
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/40—Stationarily-arranged devices for projecting balls or other bodies
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/38—Training appliances or apparatus for special sports for tennis
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/09—Adjustable dimensions
- A63B2225/093—Height
Abstract
The invention discloses a rotary throwing device and a multi-angle throwing method, wherein the rotary throwing device comprises a frame, a driving motor, a conductive slip ring, a rotating rod, a steering engine, an air claw, a mounting plate, a synchronous belt structure, an extension plate and a laser sensor, wherein the driving motor is fixed on the frame, the conductive slip ring is arranged at the output end of the driving motor and connected with the rotating rod, the driving motor drives the conductive slip ring to rotate, the conductive slip ring drives the rotating rod to rotate, the steering engine is arranged at one end of the rotating rod and connected with the air claw, the mounting plate is fixed on the side surface of the frame, the synchronous belt structure is arranged on the mounting plate, one end of the extension plate is connected with the synchronous belt structure, the synchronous belt structure drives the extension plate to move up and down, and the laser sensor is arranged at the other end of the extension plate. According to the multi-angle casting method of the rotary casting device, laser sensors are arranged at different heights, so that the rotating rod is controlled to cast articles at different heights, and multi-angle casting of the articles is realized.
Description
Technical Field
The invention relates to the field of article casting, in particular to a rotary casting device and a multi-angle casting method.
Background
Projectile motion is very common in everyday life, such as when a tennis player is training, where the ability of the player to receive a ball is practiced by the projectile. To realize full automation of tennis player training, the robot is required to be capable of throwing tennis balls at different angles and speeds, so that the player is trained in all directions. Such robots require a multi-angle projection device, and the research on multi-angle projection devices on the market is still relatively lacking.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a rotary throwing device which is used for controlling an air claw to grab and release an article through a steering engine, so that a rotating rod can rotate infinitely without causing wire winding of the steering engine, and high-speed throwing of the article is realized.
The invention also aims to provide a multi-angle casting method of the rotary casting device, wherein the laser sensors are arranged at different heights, so that the rotating rod is controlled to cast objects at different heights, and multi-angle casting is realized.
The technical scheme of the invention is as follows: the utility model provides a rotatory device of throwing, includes frame, driving motor, electrically conductive sliding ring, bull stick, steering wheel, gas claw, mounting panel, hold-in range structure, stretches out board and laser sensor, driving motor is fixed in the frame, and driving motor's output is equipped with electrically conductive sliding ring, and electrically conductive sliding ring connects the bull stick, and driving motor drive electrically conductive sliding ring rotates, and electrically conductive sliding ring drives the bull stick and rotates, and the one end of bull stick is equipped with the steering wheel, and the gas claw is connected to the steering wheel, and the mounting panel is fixed in the side of frame, and on the mounting panel was located to the hold-in range structure, the hold-in range structure was connected to the one end of stretching out the board, and the hold-in range structure drives to stretch out the board and carries out up-and-down motion, stretches out the board other end and is equipped with laser sensor.
The top of frame is equipped with the motor cabinet, and driving motor locates the motor cabinet, and driving motor passes through the plum blossom shaft coupling and is connected with electrically conductive sliding ring.
The conductive slip ring is provided with a connecting angle code, the rotating rod is provided with a connecting block, and the conductive slip ring is connected with the connecting block through the connecting angle code.
The synchronous belt structure comprises two synchronous wheels, a synchronous belt tensioning block and a conveying motor, wherein the conveying motor and the synchronous wheels are respectively arranged on the mounting plate, a motor shaft of the conveying motor is connected with one of the synchronous wheels, the synchronous belt is arranged between the two synchronous wheels, and the synchronous belt tensioning block is arranged on the synchronous belt.
The rotary throwing device further comprises a guide rail and a sliding block, the guide rail is arranged on the frame, the sliding block is arranged on the guide rail, one end of the extending rod is fixed on the sliding block, and the sliding block is fixedly connected with the synchronous belt tensioning block.
The rotary projection device further comprises an extension plate limiting block, the extension plate limiting block is arranged at the top of the frame and is provided with an opening, the extension plate is located in the opening, and the size of the opening is matched with that of the extension plate. The opening limits the horizontal deflection of the extending plate, ensures that the extending plate only moves vertically up and down, and improves the precision of the laser sensor.
The rotary throwing device further comprises a positioning switch, the positioning switch is arranged on the mounting plate and located below the extending plate, the extending plate moves downwards to trigger the positioning switch, and at the moment, the device is initialized, so that the positioning of the laser sensor is facilitated.
And an inclined supporting frame is arranged on one side of the rack, so that the stress of the rack can be improved, and vibration caused by rotation of the rotating rod is reduced.
The laser emitted by the laser sensor is positioned in the rotating range of the rotating rod and is perpendicular to the rotating plane of the rotating rod.
The multi-angle casting method of the rotary casting device comprises the following steps:
a. after the laser sensor is initialized, the synchronous belt structure drives the extending plate to move up and down until the height of the laser sensor reaches a set height;
b. the driving motor drives the conductive slip ring to rotate, so that the rotating rod is driven to rotate;
c. when the laser sensor detects the laser reflected by the rotating rod, the steering engine is controlled to loosen the air claw to release the object, so that the object projection is completed.
The laser sensors are arranged at different heights, so that the rotating rod is controlled to throw articles at different heights, and the multi-angle throwing of the articles is realized.
Compared with the prior art, the invention has the following beneficial effects:
according to the rotary throwing device, the steering engine controls the air claw to grab and release the object, the conductive slip ring enables the rotating rod to rotate infinitely without causing winding of steering engine wires, and the object throwing speed is high.
According to the multi-angle casting method of the rotary casting device, the laser sensors are arranged at different heights, so that the rotating rod is controlled to cast objects at different heights, and multi-angle casting is achieved.
Drawings
Fig. 1 is a schematic view of the structure of the spinning projectile apparatus of the present invention.
Fig. 2 is a front view showing an initial state of the spinning projectile apparatus of the present invention.
Fig. 3 is a schematic view showing that when the rotary throwing device of the present invention throws at a large angle, an article rotates to a position where the laser sensor will release.
Fig. 4 is a schematic view of the rotary throwing device of the present invention after releasing an article when throwing the article at a large angle.
Fig. 5 is a schematic view showing that the article is rotated to the laser sensor to be released when the rotary throwing device of the present invention throws at a small angle.
Fig. 6 is a schematic view of the rotary throwing device of the present invention after the article is released when the rotary throwing device is thrown at a small angle.
The device comprises a frame 1, an inclined support frame 2, a driving motor 3, a motor base 4, a conductive slip ring 5, a connecting angle code 6, a connecting block 7, a rotating rod 8, a steering engine 9, an air jaw 10, a mounting plate 11, a synchronous wheel 12, a synchronous belt 13, a synchronous belt tensioning block 14, a guide rail 15, a sliding block 16, an extending plate 17, an extending plate limiting block 18, a laser sensor 19, a laser fixing seat 20, a positioning switch 21 and a conveying motor 22.
Detailed Description
The present invention will be described in further detail with reference to examples, but embodiments of the present invention are not limited thereto.
Example 1
As shown in fig. 1 and 2, the rotary projection device of the embodiment includes a frame 1, a driving motor 3, a motor base 4, a conductive slip ring 5, a connecting angle bracket 6, a connecting block 7, a rotating rod 8, a steering engine 9, an air claw 10, a mounting plate 11, a synchronous belt structure, an extending plate 17, an extending plate limiting block 18, a laser sensor 19, a laser fixing seat 20, a guide rail 15 and a sliding block 16.
One side of the rack is provided with an inclined supporting frame 2, which can improve the stress of the rack and reduce the vibration caused by the rotation of the rotating rod.
As shown in fig. 1 and 2, the motor cabinet is mounted on the top of the frame, the driving motor is arranged on the motor cabinet, the output end of the driving motor is connected with the conductive slip ring through the plum blossom coupler, the conductive slip ring is provided with a connection angle code, the rotating rod is provided with a connection block, the conductive slip ring is connected with the connection block through the connection angle code, the driving motor drives the conductive slip ring to rotate, the conductive slip ring drives the rotating rod to rotate, one end of the rotating rod is provided with a steering engine, the steering engine is connected with a gas claw, no part is arranged at the other end of the rotating rod for balancing the torque of the rotating rod, and the stress condition of the conductive slip ring is improved.
As shown in fig. 1 and 2, the mounting plate 11 is fixed on the side of the frame through bolts and nuts, the synchronous belt structure is arranged on the mounting plate, the synchronous belt structure comprises two synchronous wheels 12, a synchronous belt 13, a synchronous belt tensioning block 14 and a conveying motor 22, the conveying motor and the synchronous wheels are mounted on the mounting plate, a motor shaft of the conveying motor is connected with one of the synchronous wheels through a set screw, the motor shaft and the synchronous wheels synchronously rotate without relative rotation, the synchronous belt is mounted between the two synchronous wheels, the synchronous belt tensioning block is mounted on the synchronous belt, and the synchronous belt is tensioned through the synchronous belt tensioning block, so that the belt pulley wrap angle and the pretightening force are ensured.
As shown in fig. 1 and 2, the guide rail is mounted on a side surface of the frame and is located on one side of the synchronous belt, the slide block 16 is arranged on the guide rail and can slide up and down along the guide rail 15, the synchronous belt tensioning block is fixedly connected with the slide block, one end of the extending plate 17 is fixed on the slide block, the other end of the extending plate is provided with a laser fixing seat 20, the laser sensor 19 is arranged on the laser fixing seat, and laser emitted by the laser sensor is located in a rotating range of the rotating rod and perpendicular to a rotating plane of the rotating rod.
As shown in fig. 1 and 2, the synchronous belt drives the synchronous belt tensioning block and the sliding block to move up and down, further drives the extending plate to move up and down, the extending plate limiting block 18 is fixed on the top of the frame through bolts and nuts, the extending plate limiting block is provided with an opening, the extending plate is positioned in the opening, the size of the opening is matched with that of the extending plate, the extending plate passes through the opening to move up and down, the opening limits the horizontal deflection of the extending plate, the extending plate is ensured to move only up and down vertically, and the precision of the laser sensor is improved; the positioning switch 21 is arranged on the mounting plate and positioned below the extending plate, when the rotary projection device is electrified, the transmission motor rotates to further drive the extending plate to move downwards to trigger the positioning switch, and at the moment, the device is initialized, so that the positioning of the laser sensor is facilitated.
Example 2
As shown in fig. 3, 4, 5 and 6, the present embodiment is a multi-angle projection method of the rotary projection device according to embodiment 1, including the following steps:
a. after the rotary throwing device is electrified, the extending plate moves downwards to the extending plate to trigger the positioning switch, so that the laser sensor is initialized, and then the synchronous belt structure drives the extending plate to move up and down until the height of the laser sensor reaches a set height;
b. the driving motor drives the conductive slip ring to rotate, so that the rotating rod is driven to rotate;
c. when the laser sensor detects the laser reflected by the rotating rod, the steering engine is controlled to loosen the air claw to release the object, so that the object projection is completed.
The laser sensors are arranged at different heights, so that the rotating rod is controlled to throw articles at different heights, and multi-angle throwing of the articles is realized.
As described above, the present invention can be better realized, and the above-described embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention; all equivalent changes and modifications are intended to be covered by the scope of the appended claims.
Claims (9)
1. The multi-angle casting method of the rotary casting device is characterized by comprising a frame, a driving motor, a conductive slip ring, a rotating rod, a steering engine, an air claw, a mounting plate, a synchronous belt structure, an extension plate and a laser sensor, wherein the driving motor is fixed on the frame;
the multi-angle casting method comprises the following steps:
a. after the laser sensor is initialized, the synchronous belt structure drives the extending plate to move up and down until the height of the laser sensor reaches a set height;
b. the driving motor drives the conductive slip ring to rotate, so that the rotating rod is driven to rotate;
c. when the laser sensor detects the laser reflected by the rotating rod, the steering engine is controlled to loosen the air claw to release the object, so that the object projection is completed.
2. The multi-angle casting method according to claim 1, wherein a motor base is arranged at the top of the frame, a driving motor is arranged on the motor base, and the driving motor is connected with the conductive slip ring through a plum blossom coupling.
3. The multi-angle casting method according to claim 2, wherein the conductive slip ring is provided with a connection angle bracket, the rotating rod is provided with a connection block, and the conductive slip ring is connected with the connection block through the connection angle bracket.
4. The multi-angle casting method according to claim 1, wherein the synchronous belt structure comprises two synchronous wheels, a synchronous belt tensioning block and a conveying motor, wherein the conveying motor and the synchronous wheels are respectively installed on the mounting plate, a motor shaft of the conveying motor is connected with one of the synchronous wheels, the synchronous belt is installed between the two synchronous wheels, and the synchronous belt tensioning block is installed on the synchronous belt.
5. The multi-angle casting method according to claim 4, further comprising a guide rail and a slider, wherein the guide rail is mounted on the frame, the slider is disposed on the guide rail, one end of the extending plate is fixed on the slider, and the slider is fixedly connected with the synchronous belt tensioning block.
6. The multi-angle projection method of claim 1 further comprising a protruding plate stopper mounted on the top of the frame, the protruding plate stopper having an opening, the protruding plate being positioned within the opening, the opening being sized to mate with the protruding plate.
7. The multi-angle projection method of claim 1 further comprising a positioning switch mounted on the mounting plate and positioned below the extension plate.
8. The multi-angle casting method according to claim 1, wherein an inclined support frame is provided at one side of the frame.
9. The multi-angle projection method of claim 1, wherein the laser light emitted from the laser sensor is located within a rotation range of the rotating rod and is perpendicular to a rotation plane of the rotating rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810997876.6A CN109011498B (en) | 2018-08-29 | 2018-08-29 | Rotary casting device and multi-angle casting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810997876.6A CN109011498B (en) | 2018-08-29 | 2018-08-29 | Rotary casting device and multi-angle casting method |
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| Publication Number | Publication Date |
|---|---|
| CN109011498A CN109011498A (en) | 2018-12-18 |
| CN109011498B true CN109011498B (en) | 2023-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810997876.6A Active CN109011498B (en) | 2018-08-29 | 2018-08-29 | Rotary casting device and multi-angle casting method |
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| Country | Link |
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| CN (1) | CN109011498B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110296639B (en) * | 2019-07-05 | 2021-07-02 | 西安工业大学 | Testing device for testing elastic performance of primary and secondary marbles |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1353622A (en) * | 1999-02-04 | 2002-06-12 | 奇恩音乐有限责任公司 | Accurate multi-axis computer-controlled object projection machine |
| JP2013106892A (en) * | 2011-11-24 | 2013-06-06 | Miyamae:Kk | Ball tossing device |
| CN105075892A (en) * | 2014-05-08 | 2015-11-25 | 罗布斯特公司 | Automated ball-throwing apparatus |
| CN206240019U (en) * | 2016-11-11 | 2017-06-13 | 哈尔滨体育学院 | A kind of portable tennis ball serving device |
| CN208852370U (en) * | 2018-08-29 | 2019-05-14 | 华南理工大学 | A kind of rotary throwing device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10023393B2 (en) * | 2015-09-29 | 2018-07-17 | Amazon Technologies, Inc. | Robotic tossing of items in inventory system |
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2018
- 2018-08-29 CN CN201810997876.6A patent/CN109011498B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1353622A (en) * | 1999-02-04 | 2002-06-12 | 奇恩音乐有限责任公司 | Accurate multi-axis computer-controlled object projection machine |
| JP2013106892A (en) * | 2011-11-24 | 2013-06-06 | Miyamae:Kk | Ball tossing device |
| CN105075892A (en) * | 2014-05-08 | 2015-11-25 | 罗布斯特公司 | Automated ball-throwing apparatus |
| CN206240019U (en) * | 2016-11-11 | 2017-06-13 | 哈尔滨体育学院 | A kind of portable tennis ball serving device |
| CN208852370U (en) * | 2018-08-29 | 2019-05-14 | 华南理工大学 | A kind of rotary throwing device |
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| CN109011498A (en) | 2018-12-18 |
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